<?xml version = '1.0' encoding = 'ISO-8859-1' ?>
<asm version="1.0" name="0">
	<cp>
		<constant value="pim2aria"/>
		<constant value="links"/>
		<constant value="NTransientLinkSet;"/>
		<constant value="col"/>
		<constant value="J"/>
		<constant value="main"/>
		<constant value="A"/>
		<constant value="OclParametrizedType"/>
		<constant value="#native"/>
		<constant value="Collection"/>
		<constant value="J.setName(S):V"/>
		<constant value="OclSimpleType"/>
		<constant value="OclAny"/>
		<constant value="J.setElementType(J):V"/>
		<constant value="TransientLinkSet"/>
		<constant value="A.__matcher__():V"/>
		<constant value="A.__exec__():V"/>
		<constant value="self"/>
		<constant value="__resolve__"/>
		<constant value="1"/>
		<constant value="J.oclIsKindOf(J):B"/>
		<constant value="18"/>
		<constant value="NTransientLinkSet;.getLinkBySourceElement(S):QNTransientLink;"/>
		<constant value="J.oclIsUndefined():B"/>
		<constant value="15"/>
		<constant value="NTransientLink;.getTargetFromSource(J):J"/>
		<constant value="17"/>
		<constant value="30"/>
		<constant value="Sequence"/>
		<constant value="2"/>
		<constant value="A.__resolve__(J):J"/>
		<constant value="QJ.including(J):QJ"/>
		<constant value="QJ.flatten():QJ"/>
		<constant value="e"/>
		<constant value="value"/>
		<constant value="resolveTemp"/>
		<constant value="S"/>
		<constant value="NTransientLink;.getNamedTargetFromSource(JS):J"/>
		<constant value="name"/>
		<constant value="__matcher__"/>
		<constant value="A.__matchwanderRobot2AriaRobot():V"/>
		<constant value="A.__matchSensor2RangeDevice():V"/>
		<constant value="A.__matchProperty2Property():V"/>
		<constant value="A.__matchWanderRule2AriaRule():V"/>
		<constant value="A.__matchCondition2Condition():V"/>
		<constant value="A.__matchFlow2Flow():V"/>
		<constant value="A.__matchTransition2AriaTransition():V"/>
		<constant value="A.__matchSimpleAction2AriaAction():V"/>
		<constant value="A.__matchMethod2Method():V"/>
		<constant value="A.__matchEndMethod2EndMethod():V"/>
		<constant value="A.__matchRule2RuleAnnotation():V"/>
		<constant value="A.__matchEndRule2EndRule():V"/>
		<constant value="A.__matchLoop2Loop():V"/>
		<constant value="A.__matchEndLoop2EndLoop():V"/>
		<constant value="A.__matchStart2Start():V"/>
		<constant value="A.__matchEnd2End():V"/>
		<constant value="__exec__"/>
		<constant value="wanderRobot2AriaRobot"/>
		<constant value="NTransientLinkSet;.getLinksByRule(S):QNTransientLink;"/>
		<constant value="A.__applywanderRobot2AriaRobot(NTransientLink;):V"/>
		<constant value="Sensor2RangeDevice"/>
		<constant value="A.__applySensor2RangeDevice(NTransientLink;):V"/>
		<constant value="Property2Property"/>
		<constant value="A.__applyProperty2Property(NTransientLink;):V"/>
		<constant value="WanderRule2AriaRule"/>
		<constant value="A.__applyWanderRule2AriaRule(NTransientLink;):V"/>
		<constant value="Condition2Condition"/>
		<constant value="A.__applyCondition2Condition(NTransientLink;):V"/>
		<constant value="Flow2Flow"/>
		<constant value="A.__applyFlow2Flow(NTransientLink;):V"/>
		<constant value="Transition2AriaTransition"/>
		<constant value="A.__applyTransition2AriaTransition(NTransientLink;):V"/>
		<constant value="SimpleAction2AriaAction"/>
		<constant value="A.__applySimpleAction2AriaAction(NTransientLink;):V"/>
		<constant value="Method2Method"/>
		<constant value="A.__applyMethod2Method(NTransientLink;):V"/>
		<constant value="EndMethod2EndMethod"/>
		<constant value="A.__applyEndMethod2EndMethod(NTransientLink;):V"/>
		<constant value="Rule2RuleAnnotation"/>
		<constant value="A.__applyRule2RuleAnnotation(NTransientLink;):V"/>
		<constant value="EndRule2EndRule"/>
		<constant value="A.__applyEndRule2EndRule(NTransientLink;):V"/>
		<constant value="Loop2Loop"/>
		<constant value="A.__applyLoop2Loop(NTransientLink;):V"/>
		<constant value="EndLoop2EndLoop"/>
		<constant value="A.__applyEndLoop2EndLoop(NTransientLink;):V"/>
		<constant value="Start2Start"/>
		<constant value="A.__applyStart2Start(NTransientLink;):V"/>
		<constant value="End2End"/>
		<constant value="A.__applyEnd2End(NTransientLink;):V"/>
		<constant value="__matchwanderRobot2AriaRobot"/>
		<constant value="WanderRobot"/>
		<constant value="Wander"/>
		<constant value="IN"/>
		<constant value="MMOF!Classifier;.allInstancesFrom(S):QJ"/>
		<constant value="TransientLink"/>
		<constant value="NTransientLink;.setRule(MATL!Rule;):V"/>
		<constant value="wander"/>
		<constant value="NTransientLink;.addSourceElement(SJ):V"/>
		<constant value="aria"/>
		<constant value="ArRobot"/>
		<constant value="Aria"/>
		<constant value="NTransientLink;.addTargetElement(SJ):V"/>
		<constant value="NTransientLinkSet;.addLink2(NTransientLink;B):V"/>
		<constant value="16:3-20:4"/>
		<constant value="__applywanderRobot2AriaRobot"/>
		<constant value="NTransientLink;"/>
		<constant value="NTransientLink;.getSourceElement(S):J"/>
		<constant value="NTransientLink;.getTargetElement(S):J"/>
		<constant value="3"/>
		<constant value="400"/>
		<constant value="robotSize"/>
		<constant value="Flowchart"/>
		<constant value="Flow"/>
		<constant value="J.allInstances():J"/>
		<constant value="J.first():J"/>
		<constant value="ariaflowchart"/>
		<constant value="17:12-17:18"/>
		<constant value="17:12-17:23"/>
		<constant value="17:4-17:23"/>
		<constant value="18:17-18:20"/>
		<constant value="18:4-18:20"/>
		<constant value="19:21-19:35"/>
		<constant value="19:21-19:50"/>
		<constant value="19:21-19:58"/>
		<constant value="19:4-19:58"/>
		<constant value="link"/>
		<constant value="__matchSensor2RangeDevice"/>
		<constant value="Sensor"/>
		<constant value="sensor"/>
		<constant value="rangeDevice"/>
		<constant value="ArRangeDevice"/>
		<constant value="31:3-37:4"/>
		<constant value="__applySensor2RangeDevice"/>
		<constant value="0"/>
		<constant value="70"/>
		<constant value="J.-(J):J"/>
		<constant value="angle1"/>
		<constant value="angle2"/>
		<constant value="sensorType"/>
		<constant value="type"/>
		<constant value="sensorProperties"/>
		<constant value="readingProperties"/>
		<constant value="32:12-32:18"/>
		<constant value="32:12-32:23"/>
		<constant value="32:4-32:23"/>
		<constant value="33:15-33:17"/>
		<constant value="33:14-33:17"/>
		<constant value="33:4-33:17"/>
		<constant value="34:14-34:16"/>
		<constant value="34:4-34:16"/>
		<constant value="35:12-35:18"/>
		<constant value="35:12-35:29"/>
		<constant value="35:4-35:29"/>
		<constant value="36:25-36:31"/>
		<constant value="36:25-36:48"/>
		<constant value="36:4-36:48"/>
		<constant value="__matchProperty2Property"/>
		<constant value="Property"/>
		<constant value="prop1"/>
		<constant value="prop2"/>
		<constant value="46:3-50:4"/>
		<constant value="__applyProperty2Property"/>
		<constant value="property"/>
		<constant value="propertyName"/>
		<constant value="tipoDato"/>
		<constant value="47:12-47:17"/>
		<constant value="47:12-47:22"/>
		<constant value="47:4-47:22"/>
		<constant value="48:20-48:25"/>
		<constant value="48:20-48:34"/>
		<constant value="48:4-48:34"/>
		<constant value="49:12-49:17"/>
		<constant value="49:12-49:26"/>
		<constant value="49:4-49:26"/>
		<constant value="__matchWanderRule2AriaRule"/>
		<constant value="Rule"/>
		<constant value="wanderRule"/>
		<constant value="ariaRule"/>
		<constant value="AriaRule"/>
		<constant value="60:3-62:4"/>
		<constant value="__applyWanderRule2AriaRule"/>
		<constant value="61:12-61:22"/>
		<constant value="61:12-61:27"/>
		<constant value="61:4-61:27"/>
		<constant value="__matchCondition2Condition"/>
		<constant value="Condition"/>
		<constant value="conditionWander"/>
		<constant value="conditionAria"/>
		<constant value="72:3-79:4"/>
		<constant value="__applyCondition2Condition"/>
		<constant value="4"/>
		<constant value="expression"/>
		<constant value="conditionProperty"/>
		<constant value="73:12-73:27"/>
		<constant value="73:12-73:32"/>
		<constant value="73:4-73:32"/>
		<constant value="74:12-74:27"/>
		<constant value="74:12-74:32"/>
		<constant value="74:4-74:32"/>
		<constant value="75:18-75:33"/>
		<constant value="75:18-75:44"/>
		<constant value="75:4-75:44"/>
		<constant value="76:13-76:28"/>
		<constant value="76:13-76:34"/>
		<constant value="76:4-76:34"/>
		<constant value="77:16-77:31"/>
		<constant value="77:16-77:49"/>
		<constant value="77:4-77:49"/>
		<constant value="__matchFlow2Flow"/>
		<constant value="IN1"/>
		<constant value="flowChart"/>
		<constant value="flowAria"/>
		<constant value="AriaFlowChart"/>
		<constant value="93:3-97:4"/>
		<constant value="__applyFlow2Flow"/>
		<constant value="nodes"/>
		<constant value="transitions"/>
		<constant value="94:12-94:21"/>
		<constant value="94:12-94:26"/>
		<constant value="94:4-94:26"/>
		<constant value="95:13-95:22"/>
		<constant value="95:13-95:28"/>
		<constant value="95:4-95:28"/>
		<constant value="96:19-96:28"/>
		<constant value="96:19-96:40"/>
		<constant value="96:4-96:40"/>
		<constant value="__matchTransition2AriaTransition"/>
		<constant value="Transition"/>
		<constant value="transition"/>
		<constant value="ariaTransition"/>
		<constant value="AriaTransition"/>
		<constant value="106:3-110:4"/>
		<constant value="__applyTransition2AriaTransition"/>
		<constant value="source"/>
		<constant value="target"/>
		<constant value="107:12-107:22"/>
		<constant value="107:12-107:27"/>
		<constant value="107:4-107:27"/>
		<constant value="108:14-108:24"/>
		<constant value="108:14-108:31"/>
		<constant value="108:4-108:31"/>
		<constant value="109:14-109:24"/>
		<constant value="109:14-109:31"/>
		<constant value="109:4-109:31"/>
		<constant value="__matchSimpleAction2AriaAction"/>
		<constant value="SimpleAction"/>
		<constant value="simple"/>
		<constant value="action"/>
		<constant value="Action"/>
		<constant value="119:3-124:4"/>
		<constant value="__applySimpleAction2AriaAction"/>
		<constant value="incoming"/>
		<constant value="outgoing"/>
		<constant value="120:12-120:18"/>
		<constant value="120:12-120:23"/>
		<constant value="120:4-120:23"/>
		<constant value="122:16-122:22"/>
		<constant value="122:16-122:31"/>
		<constant value="122:4-122:31"/>
		<constant value="123:16-123:22"/>
		<constant value="123:16-123:31"/>
		<constant value="123:4-123:31"/>
		<constant value="__matchMethod2Method"/>
		<constant value="Method"/>
		<constant value="method1"/>
		<constant value="method2"/>
		<constant value="134:3-138:4"/>
		<constant value="__applyMethod2Method"/>
		<constant value="135:12-135:19"/>
		<constant value="135:12-135:24"/>
		<constant value="135:4-135:24"/>
		<constant value="136:16-136:23"/>
		<constant value="136:16-136:32"/>
		<constant value="136:4-136:32"/>
		<constant value="137:16-137:23"/>
		<constant value="137:16-137:32"/>
		<constant value="137:4-137:32"/>
		<constant value="__matchEndMethod2EndMethod"/>
		<constant value="EndMethod"/>
		<constant value="endMethod1"/>
		<constant value="endMethod2"/>
		<constant value="147:3-151:4"/>
		<constant value="__applyEndMethod2EndMethod"/>
		<constant value="148:12-148:22"/>
		<constant value="148:12-148:27"/>
		<constant value="148:4-148:27"/>
		<constant value="149:16-149:26"/>
		<constant value="149:16-149:35"/>
		<constant value="149:4-149:35"/>
		<constant value="150:16-150:26"/>
		<constant value="150:16-150:35"/>
		<constant value="150:4-150:35"/>
		<constant value="__matchRule2RuleAnnotation"/>
		<constant value="rule1"/>
		<constant value="ruleA"/>
		<constant value="160:3-165:4"/>
		<constant value="__applyRule2RuleAnnotation"/>
		<constant value="structuralRule"/>
		<constant value="ruleAria"/>
		<constant value="161:12-161:17"/>
		<constant value="161:12-161:22"/>
		<constant value="161:4-161:22"/>
		<constant value="162:16-162:21"/>
		<constant value="162:16-162:36"/>
		<constant value="162:4-162:36"/>
		<constant value="163:16-163:21"/>
		<constant value="163:16-163:30"/>
		<constant value="163:4-163:30"/>
		<constant value="164:16-164:21"/>
		<constant value="164:16-164:30"/>
		<constant value="164:4-164:30"/>
		<constant value="__matchEndRule2EndRule"/>
		<constant value="EndRule"/>
		<constant value="endRule1"/>
		<constant value="endRule2"/>
		<constant value="174:3-178:4"/>
		<constant value="__applyEndRule2EndRule"/>
		<constant value="175:12-175:20"/>
		<constant value="175:12-175:25"/>
		<constant value="175:4-175:25"/>
		<constant value="176:16-176:24"/>
		<constant value="176:16-176:33"/>
		<constant value="176:4-176:33"/>
		<constant value="177:16-177:24"/>
		<constant value="177:16-177:33"/>
		<constant value="177:4-177:33"/>
		<constant value="__matchLoop2Loop"/>
		<constant value="Loop"/>
		<constant value="loop1"/>
		<constant value="loop2"/>
		<constant value="188:3-192:4"/>
		<constant value="__applyLoop2Loop"/>
		<constant value="while"/>
		<constant value="189:12-189:19"/>
		<constant value="189:4-189:19"/>
		<constant value="190:16-190:21"/>
		<constant value="190:16-190:30"/>
		<constant value="190:4-190:30"/>
		<constant value="191:16-191:21"/>
		<constant value="191:16-191:30"/>
		<constant value="191:4-191:30"/>
		<constant value="__matchEndLoop2EndLoop"/>
		<constant value="EndLoop"/>
		<constant value="endLoop1"/>
		<constant value="endLoop2"/>
		<constant value="201:3-205:4"/>
		<constant value="__applyEndLoop2EndLoop"/>
		<constant value="202:12-202:20"/>
		<constant value="202:12-202:25"/>
		<constant value="202:4-202:25"/>
		<constant value="203:16-203:24"/>
		<constant value="203:16-203:33"/>
		<constant value="203:4-203:33"/>
		<constant value="204:16-204:24"/>
		<constant value="204:16-204:33"/>
		<constant value="204:4-204:33"/>
		<constant value="__matchStart2Start"/>
		<constant value="Start"/>
		<constant value="start1"/>
		<constant value="start2"/>
		<constant value="214:3-218:4"/>
		<constant value="__applyStart2Start"/>
		<constant value="215:12-215:18"/>
		<constant value="215:12-215:23"/>
		<constant value="215:4-215:23"/>
		<constant value="216:16-216:22"/>
		<constant value="216:16-216:31"/>
		<constant value="216:4-216:31"/>
		<constant value="217:16-217:22"/>
		<constant value="217:16-217:31"/>
		<constant value="217:4-217:31"/>
		<constant value="__matchEnd2End"/>
		<constant value="End"/>
		<constant value="end1"/>
		<constant value="end2"/>
		<constant value="227:3-231:4"/>
		<constant value="__applyEnd2End"/>
		<constant value="228:11-228:15"/>
		<constant value="228:11-228:20"/>
		<constant value="228:3-228:20"/>
		<constant value="229:15-229:19"/>
		<constant value="229:15-229:28"/>
		<constant value="229:3-229:28"/>
		<constant value="230:15-230:19"/>
		<constant value="230:15-230:28"/>
		<constant value="230:3-230:28"/>
	</cp>
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			<getasm/>
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			<getasm/>
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			<call arg="30"/>
			<call arg="31"/>
			<enditerate/>
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			<getasm/>
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			<getasm/>
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			<getasm/>
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			<lne id="354" begin="23" end="23"/>
			<lne id="355" begin="23" end="24"/>
			<lne id="356" begin="21" end="26"/>
			<lne id="346" begin="8" end="27"/>
		</linenumbertable>
		<localvariabletable>
			<lve slot="3" name="345" begin="7" end="27"/>
			<lve slot="2" name="344" begin="3" end="27"/>
			<lve slot="0" name="17" begin="0" end="27"/>
			<lve slot="1" name="126" begin="0" end="27"/>
		</localvariabletable>
	</operation>
	<operation name="357">
		<context type="6"/>
		<parameters>
		</parameters>
		<code>
			<push arg="358"/>
			<push arg="113"/>
			<findme/>
			<push arg="210"/>
			<call arg="94"/>
			<iterate/>
			<store arg="19"/>
			<getasm/>
			<get arg="1"/>
			<push arg="95"/>
			<push arg="8"/>
			<new/>
			<dup/>
			<push arg="86"/>
			<pcall arg="96"/>
			<dup/>
			<push arg="359"/>
			<load arg="19"/>
			<pcall arg="98"/>
			<dup/>
			<push arg="360"/>
			<push arg="358"/>
			<push arg="101"/>
			<new/>
			<pcall arg="102"/>
			<pusht/>
			<pcall arg="103"/>
			<enditerate/>
		</code>
		<linenumbertable>
			<lne id="361" begin="19" end="24"/>
		</linenumbertable>
		<localvariabletable>
			<lve slot="1" name="359" begin="6" end="26"/>
			<lve slot="0" name="17" begin="0" end="27"/>
		</localvariabletable>
	</operation>
	<operation name="362">
		<context type="6"/>
		<parameters>
			<parameter name="19" type="106"/>
		</parameters>
		<code>
			<load arg="19"/>
			<push arg="359"/>
			<call arg="107"/>
			<store arg="29"/>
			<load arg="19"/>
			<push arg="360"/>
			<call arg="108"/>
			<store arg="109"/>
			<load arg="109"/>
			<dup/>
			<getasm/>
			<load arg="29"/>
			<get arg="38"/>
			<call arg="30"/>
			<set arg="38"/>
			<dup/>
			<getasm/>
			<load arg="29"/>
			<get arg="252"/>
			<call arg="30"/>
			<set arg="252"/>
			<dup/>
			<getasm/>
			<load arg="29"/>
			<get arg="253"/>
			<call arg="30"/>
			<set arg="253"/>
			<pop/>
		</code>
		<linenumbertable>
			<lne id="363" begin="11" end="11"/>
			<lne id="364" begin="11" end="12"/>
			<lne id="365" begin="9" end="14"/>
			<lne id="366" begin="17" end="17"/>
			<lne id="367" begin="17" end="18"/>
			<lne id="368" begin="15" end="20"/>
			<lne id="369" begin="23" end="23"/>
			<lne id="370" begin="23" end="24"/>
			<lne id="371" begin="21" end="26"/>
			<lne id="361" begin="8" end="27"/>
		</linenumbertable>
		<localvariabletable>
			<lve slot="3" name="360" begin="7" end="27"/>
			<lve slot="2" name="359" begin="3" end="27"/>
			<lve slot="0" name="17" begin="0" end="27"/>
			<lve slot="1" name="126" begin="0" end="27"/>
		</localvariabletable>
	</operation>
	<operation name="372">
		<context type="6"/>
		<parameters>
		</parameters>
		<code>
			<push arg="373"/>
			<push arg="113"/>
			<findme/>
			<push arg="210"/>
			<call arg="94"/>
			<iterate/>
			<store arg="19"/>
			<getasm/>
			<get arg="1"/>
			<push arg="95"/>
			<push arg="8"/>
			<new/>
			<dup/>
			<push arg="88"/>
			<pcall arg="96"/>
			<dup/>
			<push arg="374"/>
			<load arg="19"/>
			<pcall arg="98"/>
			<dup/>
			<push arg="375"/>
			<push arg="373"/>
			<push arg="101"/>
			<new/>
			<pcall arg="102"/>
			<pusht/>
			<pcall arg="103"/>
			<enditerate/>
		</code>
		<linenumbertable>
			<lne id="376" begin="19" end="24"/>
		</linenumbertable>
		<localvariabletable>
			<lve slot="1" name="374" begin="6" end="26"/>
			<lve slot="0" name="17" begin="0" end="27"/>
		</localvariabletable>
	</operation>
	<operation name="377">
		<context type="6"/>
		<parameters>
			<parameter name="19" type="106"/>
		</parameters>
		<code>
			<load arg="19"/>
			<push arg="374"/>
			<call arg="107"/>
			<store arg="29"/>
			<load arg="19"/>
			<push arg="375"/>
			<call arg="108"/>
			<store arg="109"/>
			<load arg="109"/>
			<dup/>
			<getasm/>
			<load arg="29"/>
			<get arg="38"/>
			<call arg="30"/>
			<set arg="38"/>
			<dup/>
			<getasm/>
			<load arg="29"/>
			<get arg="252"/>
			<call arg="30"/>
			<set arg="252"/>
			<dup/>
			<getasm/>
			<load arg="29"/>
			<get arg="253"/>
			<call arg="30"/>
			<set arg="253"/>
			<pop/>
		</code>
		<linenumbertable>
			<lne id="378" begin="11" end="11"/>
			<lne id="379" begin="11" end="12"/>
			<lne id="380" begin="9" end="14"/>
			<lne id="381" begin="17" end="17"/>
			<lne id="382" begin="17" end="18"/>
			<lne id="383" begin="15" end="20"/>
			<lne id="384" begin="23" end="23"/>
			<lne id="385" begin="23" end="24"/>
			<lne id="386" begin="21" end="26"/>
			<lne id="376" begin="8" end="27"/>
		</linenumbertable>
		<localvariabletable>
			<lve slot="3" name="375" begin="7" end="27"/>
			<lve slot="2" name="374" begin="3" end="27"/>
			<lve slot="0" name="17" begin="0" end="27"/>
			<lve slot="1" name="126" begin="0" end="27"/>
		</localvariabletable>
	</operation>
</asm>
